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This paper reports on a 3D photomosaicing pipeline using data collected from an autonomous underwater vehicle performing simultaneous localization and mapping (SLAM). The pipeline projects and blends 2D imaging sonar data onto a large-scale 3D mesh that is either given a priori or derived from SLAM. Compared to other methods that generate a 2D-only mosaic, our approach produces 3D models that are...
We have established an Australia-wide observation program that exhibits recent developments in autonomous underwater vehicle (AUV) systems to deliver precisely navigated time series benthic imagery at selected reference stations on Australia's continental shelf. These observations are designed to help characterize changes in benthic assemblage composition and cover derived from precisely registered...
This paper presents a vision-based underwater mapping system, which is demonstrated in an archaeological survey of the submerged ancient town of Pavlopetri. The snorkeler or diver operated system provides a low cost alternative to the use of an AUV or ROV in shallow waters. The system produces textured three-dimensional models, which contain significantly more information than traditional archaeological...
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